AigamozuControlPackets.cpp

00001 #include "AigamozuControlPackets.h"
00002 #include "VNH5019.h"
00003 
00004 //////////////////////////////
00005 //          Init            //
00006 //////////////////////////////
00007 AigamozuControlPackets::AigamozuControlPackets(VNH5019 agzSheild):_agzSheild(agzSheild){
00008     packetData = new uint8_t[50];
00009     packetLength = 0;
00010     //--init base point--//
00011     //basePoint[0].x = 13956.2655;
00012     //basePoint[0].y = 3731.5060;
00013     basePoint[0].x = 37.524505;
00014     basePoint[0].y = 139.939510;
00015     
00016     //basePoint[1].x = 13956.2898;
00017     //basePoint[1].y = 3731.5055;
00018     basePoint[1].x = 37.524747;
00019     basePoint[1].y = 139.939510;
00020     
00021     //basePoint[2].x = 13956.2915;
00022     //basePoint[2].y = 3731.5245;
00023     basePoint[2].x = 37.524747;
00024     basePoint[2].y = 139.939530;
00025     
00026     //basePoint[3].x = 13956.2680;
00027     //basePoint[3].y = 3731.5248;
00028     basePoint[3].x = 37.524505;
00029     basePoint[3].y = 139.939530;
00030     
00031     agzPoint.x=37.524600;agzPoint.y=139.939520;
00032     agzPointKalman.x=37.524600;agzPointKalman.y=139.939520;
00033     agzCov.x=4.385965;agzCov.y=4.385965;
00034     }
00035 
00036 //////////////////////////////
00037 // get関数
00038 //////////////////////////////
00039 double AigamozuControlPackets::get_agzPoint_lati(){
00040     return agzPoint.x;
00041     }
00042 double AigamozuControlPackets::get_agzPoint_longi(){
00043     return agzPoint.y;
00044     }
00045 double AigamozuControlPackets::get_agzPointKalman_lati(){
00046     return agzPointKalman.x;
00047     }
00048 double AigamozuControlPackets::get_agzPointKalman_longi(){
00049     return agzPointKalman.y;
00050     }
00051 double AigamozuControlPackets::get_agzCov_lati(){
00052     return agzCov.x;
00053 }
00054 double AigamozuControlPackets::get_agzCov_longi(){
00055     return agzCov.y;
00056 }
00057 
00058 double AigamozuControlPackets::get_basePointKalman_lati(int i){
00059     return basePointKalman[i].x;
00060     }
00061 double AigamozuControlPackets::get_basePointKalman_longi(int i){
00062     return basePointKalman[i].y;
00063     }
00064 //////////////////////////////
00065 // set関数
00066 //////////////////////////////
00067 void AigamozuControlPackets::set_agzCov(double cov_lati,double cov_longi){
00068     agzCov.x = cov_lati;
00069     agzCov.y = cov_longi;    
00070 }
00071 
00072 
00073 void AigamozuControlPackets::set_agzAutoGPS(){
00074     agzPoint.x += 0.001;
00075     //agzPoint.y += 0.001;
00076 }
00077 
00078 void AigamozuControlPackets::set_agzKalmanGPS(){
00079     agzPointKalman.x += 0.001;
00080     //agzPointKalman.y += 0.001;
00081     
00082 }
00083 
00084 //////////////////////////////
00085 // Controller/Base -> Robot //
00086 //////////////////////////////
00087 
00088  void AigamozuControlPackets::createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR)
00089  {         
00090     uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID,'L',directionL,pwmL,'R',directionR,pwmR,'A','G','E'};
00091     for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
00092     packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
00093      }
00094      
00095 void AigamozuControlPackets::createRequestCommand(uint8_t fromID,uint8_t toID)
00096 {
00097     uint8_t tmp[] = {'A','G','S','S','F',fromID,'T',toID,'A','G','E'};
00098     for(int i = 0; i < REQUEST_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i]; 
00099     packetLength = REQUEST_COMMNAD_LENGTH;
00100     }
00101     
00102 void AigamozuControlPackets::createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode){
00103     uint8_t tmp[] = {'A','G','S','C','F',fromID,'T',toID,mode,'A','G','E'};
00104     for(int i = 0; i < CHANGE_MODE_COMMAND_LENGTH; ++i) packetData[i] = tmp[i];
00105     packetLength = CHANGE_MODE_COMMAND_LENGTH;
00106     }
00107     
00108 
00109 //////////////////////////////
00110 // Robot -> Controller/Base //
00111 //////////////////////////////
00112 
00113 void AigamozuControlPackets::createReceiveStatusCommand(uint8_t fromID,uint8_t toID,double latitude,double longitude,double latitudeKalman,double longitudeKalman,double covarLati,double covarLongi)
00114 {
00115     UNION_double_char latitude_data,longitude_data, latitudeKalman_data, longitudeKalman_data;
00116     UNION_double_char covarLati_data,covarLongi_data;
00117     
00118     latitude_data.double_value=latitude;
00119     longitude_data.double_value=longitude;
00120     longitude_data.double_value=latitudeKalman;
00121     longitudeKalman_data.double_value=longitudeKalman;
00122     covarLati_data.double_value=covarLati;
00123     covarLongi_data.double_value=covarLongi;
00124       
00125     uint8_t tmp[] = {'A','G','S','R','F',fromID,'T',toID,'S',nowMode,71,80,83,
00126                     latitude_data.char_value[0],latitude_data.char_value[1],latitude_data.char_value[2],latitude_data.char_value[3],latitude_data.char_value[4],latitude_data.char_value[5],latitude_data.char_value[6],latitude_data.char_value[7],
00127                     longitude_data.char_value[0],longitude_data.char_value[1],longitude_data.char_value[2],longitude_data.char_value[3],longitude_data.char_value[4],longitude_data.char_value[5],longitude_data.char_value[6],longitude_data.char_value[7],
00128                     latitudeKalman_data.char_value[0],latitudeKalman_data.char_value[1],latitudeKalman_data.char_value[2],latitudeKalman_data.char_value[3],latitudeKalman_data.char_value[4],latitudeKalman_data.char_value[5],latitudeKalman_data.char_value[6],latitudeKalman_data.char_value[7],
00129                     longitudeKalman_data.char_value[0],longitudeKalman_data.char_value[1],longitudeKalman_data.char_value[2],longitudeKalman_data.char_value[3],longitudeKalman_data.char_value[4],longitudeKalman_data.char_value[5],longitudeKalman_data.char_value[6],longitudeKalman_data.char_value[7],      
00130                     covarLati_data.char_value[0],covarLati_data.char_value[1],covarLati_data.char_value[2],covarLati_data.char_value[3],covarLati_data.char_value[4],covarLati_data.char_value[5],covarLati_data.char_value[6],covarLati_data.char_value[7],
00131                     covarLongi_data.char_value[0],covarLongi_data.char_value[1],covarLongi_data.char_value[2],covarLongi_data.char_value[3],covarLongi_data.char_value[4],covarLongi_data.char_value[5],covarLongi_data.char_value[6],covarLongi_data.char_value[7],
00132                     65,71,69};
00133     for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
00134     packetLength =  RECEIVE_STATUS_COMMNAD_LENGTH;
00135 }
00136 
00137 
00138 
00139 //////////////////////////////
00140 //    Using createPacket    //
00141 //////////////////////////////
00142 uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){
00143     return buf[14];
00144     }
00145 
00146 uint8_t* AigamozuControlPackets::getPacketData(){
00147     return packetData;
00148     }
00149 
00150 int AigamozuControlPackets::getPacketLength(){
00151         return packetLength;
00152     }
00153 
00154 void AigamozuControlPackets::changeSpeed(uint8_t* buf){
00155     if(nowMode == MANUAL_MODE){
00156             manualCount =0;
00157             _agzSheild.changeSpeed(buf[20],buf[21],buf[23],buf[24]);
00158         }
00159     }
00160 
00161 //////////////////////////////
00162 //   each mode interrupt    //
00163 //////////////////////////////
00164 
00165 void AigamozuControlPackets::manualMode(){
00166     manualCount++;
00167     if(manualCount > 10){
00168         _agzSheild.changeSpeed(0,0,0,0);
00169         manualCount = 0;
00170         }
00171     }
00172 
00173 
00174 void AigamozuControlPackets::randomAuto(){
00175     
00176     randomCount++;
00177     
00178     if(randomCount < 10) _agzSheild.changeSpeed(1,128,1,128);
00179     else if(randomCount < 11) _agzSheild.changeSpeed(2,128,2,128);
00180     else randomCount = 0;
00181     
00182     }
00183 
00184 bool AigamozuControlPackets::gpsAuto(){
00185     
00186    /*
00187     _agzSheild.changeSpeed(2,128,2,128):for moving robot
00188     */
00189     
00190     Timer Automove_Timer;
00191     
00192     bool out_flag = true;
00193     static bool out_count_flag = false;
00194     
00195     if(AigamozuControlPackets::checkGpsHit(basePointKalman[0],basePointKalman[1],basePointKalman[2],agzPointKalman)){
00196         out_flag = false;
00197         out_count_flag = false;
00198     }else if(AigamozuControlPackets::checkGpsHit(basePointKalman[2],basePointKalman[3],basePointKalman[0],agzPointKalman)){
00199         out_flag = false;
00200         out_count_flag = false;
00201     }else{//if robot is out 
00202         out_flag = true;
00203     }
00204  
00205     //if robot is out:
00206     if(out_flag == true || out_count_flag == false){
00207         Automove_Timer.reset();
00208         out_count_flag = true;
00209     }
00210     if(out_flag){
00211         if(Automove_Timer.read_ms() < 5000){
00212             _agzSheild.changeSpeed(2,64,2,64);//back
00213         }else if(Automove_Timer.read_ms() < 6000){
00214             _agzSheild.changeSpeed(1,64,2,64);//straight
00215         }else if(Automove_Timer.read_ms() >= 6000){
00216             out_count_flag=false;
00217             out_flag=false;
00218         }
00219     }else{
00220     //if robot is inner
00221         _agzSheild.changeSpeed(1,64,1,64);//straight
00222     }
00223     
00224     return out_flag;
00225  
00226 }
00227  
00228  
00229  
00230     
00231     
00232 //Update Robot Point    
00233 void AigamozuControlPackets::reNewRobotPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
00234     agzPoint.x = (double)latitudeH + (double)(latitudeL / 1000000.0/60.0);
00235     agzPoint.y = (double)longitudeH +(double)(longitudeL / 1000000.0/60.0);
00236     
00237     }
00238     
00239 //Updata Base Point   
00240 void AigamozuControlPackets::reNewBasePoint(int id, long latitudeH,long latitudeL,long longitudeH,long longitudeL){
00241     basePoint[id].x = (double)latitudeH + (double)(latitudeL / 1000000.0);
00242     basePoint[id].y = (double)longitudeH +(double)(longitudeL / 1000000.0);
00243 }   
00244 
00245 //Update Robot Point    
00246 void AigamozuControlPackets::reNewRobotPointKalman(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
00247     agzPointKalman.x = (double)latitudeH + (double)(latitudeL / 1000000.0/60.0);
00248     agzPointKalman.y = (double)longitudeH +(double)(longitudeL / 1000000.0/60.0);
00249     
00250     }
00251     
00252 //Updata Base Point   
00253 void AigamozuControlPackets::reNewBasePointKalman(int id, long latitudeH,long latitudeL,long longitudeH,long longitudeL){
00254     basePointKalman[id].x = (double)latitudeH + (double)(latitudeL / 1000000.0);
00255     basePointKalman[id].y = (double)longitudeH +(double)(longitudeL / 1000000.0);
00256 }   
00257 
00258 
00259 //Check Hit Point Area
00260 bool AigamozuControlPackets::checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P){
00261     vector2D AB = AigamozuControlPackets::sub_vector(B, A);
00262     vector2D BP = AigamozuControlPackets::sub_vector(P, B);
00263 
00264     vector2D BC = AigamozuControlPackets::sub_vector(C, B);
00265     vector2D CP = AigamozuControlPackets::sub_vector(P, C);
00266 
00267     vector2D CA = AigamozuControlPackets::sub_vector(A, C);
00268     vector2D AP = AigamozuControlPackets::sub_vector(P, A);
00269     
00270     double c1 = AB.x * BP.y - AB.y * BP.x;
00271     double c2 = BC.x * CP.y - BC.y * CP.x;
00272     double c3 = CA.x * AP.y - CA.y * AP.x;
00273 
00274     if( ( c1 > 0 && c2 > 0 && c3 > 0 ) || ( c1 < 0 && c2 < 0 && c3 < 0 ) ) {    
00275         return true;
00276     }
00277     
00278     return false;
00279 
00280     }
00281 
00282 vector2D AigamozuControlPackets::sub_vector( const vector2D& a, const vector2D& b )
00283 {
00284     vector2D ret;
00285     ret.x = a.x - b.x;
00286     ret.y = a.y - b.y;
00287     return ret;   
00288 }    
00289 
00290 
00291 
00292 
00293 //////////////////////////////
00294 //     Mode change          //
00295 //////////////////////////////
00296 bool AigamozuControlPackets::changeMode(uint8_t *buf){
00297     
00298     //reset
00299     _agzSheild.changeSpeed(0,0,0,0);
00300     eachModeInt.detach();
00301 
00302     //Select Mode
00303     switch(buf[19]){
00304         case 0:
00305             nowMode = STANDBY_MODE;
00306         break;
00307         
00308         case 1:
00309             eachModeInt.attach(this,&AigamozuControlPackets::manualMode,1.0);
00310             nowMode = MANUAL_MODE;
00311         break;
00312         
00313         case 2:
00314             //nowMode = AUTO_MODE;
00315             //eachModeInt.attach(this,&AigamozuControlPackets::randomAuto,1.0);
00316 //            eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,2.0);
00317             nowMode = AUTO_GPS_MODE;
00318         break;
00319         
00320         case 3:
00321             //eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,0.2);
00322             nowMode = AUTO_GPS_MODE;
00323         break;
00324         
00325         default:
00326             nowMode = STANDBY_MODE;
00327         break;
00328         
00329         }
00330     return false;
00331 }
00332 
00333 
00334